KR101866690B1 - system for measuring underwater structure and measuring method using the same - Google Patents
system for measuring underwater structure and measuring method using the same Download PDFInfo
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- KR101866690B1 KR101866690B1 KR1020170039932A KR20170039932A KR101866690B1 KR 101866690 B1 KR101866690 B1 KR 101866690B1 KR 1020170039932 A KR1020170039932 A KR 1020170039932A KR 20170039932 A KR20170039932 A KR 20170039932A KR 101866690 B1 KR101866690 B1 KR 101866690B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8993—Three dimensional imaging systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Algebra (AREA)
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- Combustion & Propulsion (AREA)
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- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to an underwater structure measurement system and an underwater structure measurement system capable of acquiring a plurality of tomographic shapes while moving a sonar sensor in a direction perpendicular to a sea floor and accumulating a plurality of tomographic shapes to generate a three- And a measurement method.
In order to achieve the above object, the present invention provides a boat, a lifting winch mounted on the ship, a lifting rope having one end fixed to the lifting winch, a sonar sensor coupled to the other end of the lifting rope, Wherein the sonar sensor is constituted by a profiling sonar and rotates at a fixed altitude (Z-axis) from the sea floor to acquire the shape of a surrounding monolayer, Wherein the control unit operates the lifting winch step by step to accumulate a plurality of single layer shapes obtained by increasing the altitude of the sonar sensor step by step to generate a three-dimensional shape of the underwater structure. do.
Description
The present invention relates to an underwater structure measurement system and a method for measuring an underwater structure. More specifically, the present invention relates to an underwater structure measurement system capable of acquiring a plurality of tomographic shapes while moving a sonar sensor in a direction perpendicular to a sea floor, accumulating a plurality of tomographic shapes, and generating a three- And a method for measuring an underwater structure.
Conventionally, an image sensor or an image sensor is mainly used to generate three-dimensional shape information of an undersea topography and an underwater structure. The image sonar transmits and receives a sonar in a certain area to obtain information such as a two-dimensional image of a digital camera, and the brightness value corresponding to each pixel of the image is information on the distance.
In the prior art, three-dimensional information is generated by calculating the height of an object using information of an image or shadow region of an image (Application No. 10-2015-0028364), or existing three-dimensional undersea spatial information and a side scan sonar Similar method) to generate three-dimensional undersea topography information (Application No.: 10-2012-0018385).
However, in the above-described prior art, the image is processed using the image sonar to construct the three-dimensional information. Instead of receiving the image information of the image sonar, the measuring distance is only several meters to several tens meters, The same or a lower level than the method. Also, the measured information is projected image information measured from the image sonar to the submarine topography or the underwater structure in the diagonal direction, and the error due to the distortion of the image becomes larger as the distance increases.
In actual operation, the information is measured while moving the image sonar to a long structure (pipe, etc.) on the ship. At this time, if the ship moves up and down due to digging or the like, the distance between the image sonar and the submarine topography or underwater structure changes, There is a difficulty in correcting the whole, and if the measurement information moving up and down the ship is inaccurate, the correction can not be performed, so that the generation of the entire three-dimensional information may not be possible.
The present invention relates to an underwater structure measurement system and an underwater structure measurement system capable of acquiring a plurality of tomographic shapes while moving a sonar sensor in a direction perpendicular to the sea floor and accumulating a plurality of tomographic shapes to generate a three- And a measurement method.
The present invention also relates to an underwater structure measuring system and a method for measuring an underwater structure capable of accurately measuring the underwater structure shape by reducing the measurement error of the attitude information and rapidly controlling and maintaining the underwater altitude during the shape measurement.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.
The underwater structure measuring system according to an embodiment of the present invention includes a ship, a lifting winch mounted on the ship, a lifting rope having one end fixed to the lifting winch, a sonar sensor coupled to the other end of the lifting rope, And a controller for controlling the lifting winch and the sonar sensor to generate a three-dimensional shape of the underwater structure. The sonar sensor is composed of a profiling sonar, and rotates at a fixed altitude (Z-axis) Dimensional shape of the underwater structure by accumulating a plurality of single-layer shapes acquired by increasing the altitude of the sonar sensor in stages, by operating the lifting winch step by step.
In addition, the controller may increase the altitude of the sonar sensor stepwise by an amount less than or equal to an altitude increase value according to the following equation (1).
[Equation 1]
(here,
Is an elevation increment value, The maximum measurement distance of the sonar sensor, Represents the angle of the ultrasonic wave emitted from the sonar sensor)A winch that connects between the lifting rope and the sonar sensor and winds up or releases the lifting rope; an altitude sensor coupled to a lower portion of the sonar sensor for measuring an altitude from the sea floor; And a control unit connected to the winch, wherein the control unit operates the winch based on the altitude data measured by the altitude sensor to maintain the altitude at a target altitude.
The apparatus may further include a depth sensor coupled to a lower portion of the sonar sensor for measuring a depth from the sea surface and an attitude measuring sensor coupled to a lower portion of the sonar sensor and measuring the attitude of the sonar sensor.
In addition, the control unit may process the unacquired region in each of the plurality of single-layer shapes in a plane.
In addition, the control unit may process the unacquired regions in each of the plurality of single-layer shapes into a curved surface by using the spline interpolation method.
A method for measuring an underwater structure according to an embodiment of the present invention includes a first step of descending a sonar sensor to the seabed using a lifting winch mounted on a ship, a second step of transmitting and receiving ultrasonic waves in the sonar sensor, A third step of obtaining a tomographic shape of the underwater structure, a fourth step of determining whether the altitude of the sonar sensor is the final altitude, and a fourth step of determining whether the altitude of the sonar sensor is not the final altitude, Dimensional shape of the submerged structure by accumulating a plurality of acquired single-layer shapes when it is determined that the altitude of the sonar sensor is located at a final altitude in the fourth step, It includes six steps.
In the sixth step, the unacquired regions in each of the plurality of single-layer shapes may be processed as a plane.
Further, in the sixth step, the unacquired regions in each of the plurality of single-layer shapes can be processed into a curved surface by using the spline interpolation method.
The underwater structure measurement system and the underwater structure measurement method according to the present invention can acquire a plurality of tomographic shapes while moving the sonar sensor in a direction perpendicular to the sea floor, accumulate a plurality of tomographic shapes, It is possible to generate.
Also, the underwater structure measuring system and the underwater structure measuring method according to the present invention can precisely measure the underwater structure shape by reducing the measurement error of the attitude information and rapidly controlling and maintaining the underwater altitude during the shape measurement.
It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.
BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and, together with the description, And shall not be interpreted.
1 schematically shows an underwater structure measurement system according to an embodiment of the present invention.
2 is a block diagram schematically illustrating an underwater structure measurement system according to an embodiment of the present invention.
3 is an exemplary view showing a profiling sonar sensor of an underwater structure measuring system according to an embodiment of the present invention.
4 illustrates a process of acquiring a tomographic shape using an underwater structure measurement system according to an embodiment of the present invention.
Fig. 5 shows the results of accumulating the tomographic shapes of Fig.
FIG. 6 shows a three-dimensional shape of an underwater structure generated using the underwater structure measurement system according to an embodiment of the present invention.
FIG. 7 shows a three-dimensional shape of an underwater structure generated by using an underwater structure measurement system according to another embodiment of the present invention.
8 is a flowchart illustrating a method of measuring an underwater structure according to an embodiment of the present invention.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The embodiments of the present invention are described in order to more fully explain the present invention to those skilled in the art, and the following embodiments may be modified into various other forms, It is not limited to the embodiment. Rather, these embodiments are provided so that this disclosure will be more faithful and complete, and will fully convey the scope of the invention to those skilled in the art.
Also, in the following drawings, each configuration is exaggerated for convenience and clarity of description, and the same reference numerals denote the same elements in the drawings. As used herein, the term "and / or" includes any and all combinations of any of the listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As used herein, the singular forms "a," "an," and "the" include singular forms unless the context clearly dictates otherwise. Also, " comprise "and / or" comprising "when used herein should be interpreted as specifying the presence of stated shapes, numbers, steps, operations, elements, elements, and / And does not preclude the presence or addition of one or more other features, integers, operations, elements, elements, and / or groups.
<Underwater structure measurement system>
1 and 2, an underwater structure measuring system according to an embodiment of the present invention will be described in detail.
FIG. 1 schematically shows an underwater structure measurement system according to an embodiment of the present invention, and FIG. 2 is a block diagram schematically showing an underwater structure measurement system according to an embodiment of the present invention.
1 and 2, an underwater structure measuring system according to an embodiment of the present invention includes a
One end of the
A part of the other end of the
It is preferable that the
The
The
Referring to FIG. 3, the
The
That is, by the operation of the
The
The
The
Here, the
Here, the first mass range may be set in the range of approximately 30 kg to 100 kg, and the shaking of the
The
The altitude data measured by the
The
The water depth data measured by the
That is, the
Accordingly, by measuring the underwater terrain through the
The
Here, the
In particular, a structure using a force balancing method is preferable in order to widen the linearity and bandwidth of a signal. As a kind of gyroscope, in addition to the gyroscope for measuring the angular velocity using the mass of the rotating body as described above, a vibrating gyroscope, a fiber optic gyroscope, a ring laser gyroscope ), A dynamically turned gyroscope, or the like can be used.
The lifting
4 and 5, the
The
Here, the monolayer shape may be a three-dimensional shape having a predetermined height (Z-axis) depending on the radiation angle of the sound wave M.
Thereafter, the
Here, it is preferable that the elevation height H1 of the
[Equation 1]
(here,
Is an elevation increment value, The maximum measurement distance of the sonar sensor, Represents the angle of the sound wave emitted from the sonar sensor)That is, it is preferable that at least a part of the sound wave M emission range at the first altitude H1 and the sound emission range M at the second altitude H2 + H2 overlap, and as the overlap range becomes wider The accuracy of the generated three-dimensional shape is improved.
However, since the time for generating the three-dimensional shape increases as the overlapping range is wider, preferable working time and overlapping range can be set in consideration of the relationship between the precision and the working time.
Thereafter, the
Similarly, the
Thereafter, the
That is, in addition to the reflected wave M1 initially reflected at the first hill of the
It is also possible to measure the elevation of the elevation to a level higher than before and to receive the signal of the reflected wave M1 reflected by the fourth hill which has not been previously measured so that detailed shape information can be obtained within the range reached by the sound wave M Can be obtained.
Then, the
Referring to FIG. 6, in a single-layer shape acquired at the altitudes (first altitude, second altitude, and third altitude) of each step, the sound wave M is blocked by the
As shown in FIG. 6, the
According to another embodiment of the present invention, as shown in FIG. 7, the
<Measurement method of underwater structure>
Next, a method of measuring an underwater structure using an underwater structure measuring system will be described in detail with reference to FIGS. 4 to 8. FIG.
FIG. 4 shows a process of acquiring a tomographic shape using an underwater structure measurement system according to an embodiment of the present invention, FIG. 5 shows the result of accumulating the tomographic shapes of FIG. 4, FIG. 7 shows a three-dimensional shape of an underwater structure produced by using the underwater structure measurement system according to another embodiment of the present invention, and FIG. 8 shows a three-dimensional shape of an underwater structure formed by using the underwater structure measurement system according to another embodiment of the present invention. 1 is a flowchart illustrating a method of measuring an underwater structure according to an embodiment of the present invention.
Referring to FIG. 8, a method for measuring an underwater structure according to an embodiment of the present invention includes a descending step S10, an ultrasonic transmission / reception step S20, a rotating step S30, a final height determination step S40, An ascending step S50 and a three-dimensional shape generating step S60.
In the descending step S10, after the current position is determined based on the GPS (Global Positioning System) disposed on the
In the ultrasound transmitting and receiving step S20, the
As described above, the
In the rotation step S30, the
In step S40, it is determined whether the current altitude is a target final altitude (for example, the third altitude). If it is determined that the final altitude is reached, The three-dimensional shape of the
If it is determined in step S40 that the current altitude does not reach the final altitude in the ascending step S50, the lifting
After reaching the second altitude (H1 + H2) in the ascending step (S50), the sonar sensor (100) is rotated 360 degrees again to detect the omnidirectional underwater structure (3) H1 + H2).
As a result, the
Here, it is preferable that the elevation height H1 of the
[Equation 1]
(here,
Is an elevation increment value, The maximum measurement distance of the sonar sensor, Represents the angle of the sound wave emitted from the sonar sensor)That is, it is preferable that at least a part of the sound wave M emission range at the first altitude H1 and the sound emission range M at the second altitude H2 + H2 overlap, and as the overlap range becomes wider The accuracy of the generated three-dimensional shape is improved.
However, since the time for generating the three-dimensional shape increases as the overlapping range is wider, preferable working time and overlapping range can be set in consideration of the relationship between the precision and the working time.
In the three-dimensional shape generating step S60, when it is determined that the current altitude reaches the final altitude (for example, the third altitude) at which the current altitude is reached, a plurality of tomographic shapes acquired up to now are accumulated, Thereby creating a three-dimensional shape for the
Referring to FIG. 6, in a single-layer shape acquired at the altitudes (first altitude, second altitude, and third altitude) of each step, the sound wave M is blocked by the
As shown in FIG. 6, the
According to another embodiment of the present invention, as shown in FIG. 7, the
It is to be understood that the present invention is not limited to the above-described embodiment, and that various modifications and changes may be made without departing from the scope of the present invention as defined in the appended claims. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
10: Ship 20: Lifting rope
100: sonar sensor 200: winch
300: control unit 400: watertight housing
410, 420, 430:
500: lifting winch
Claims (9)
A lifting winch mounted on the ship;
A lifting rope whose one end is fixed to the lifting winch;
A sonar sensor coupled to the other end of the lifting rope and introduced into the water; And
A controller for controlling the lifting winch and the sonar sensor to generate a three-dimensional shape of the underwater structure; Lt; / RTI >
The sonar sensor is composed of a profiling sonar and rotates at a fixed altitude (Z-axis) from the sea floor to acquire a peripheral tomographic shape,
Wherein the control unit operates the lifting winch step by step to accumulate a plurality of single layer shapes obtained by increasing the altitude of the sonar sensor step by step to generate a three-dimensional shape of the underwater structure.
Wherein the controller increases the altitude of the sonar sensor step by step in accordance with Equation (1) below.
[Equation 1]
(here, Is an elevation increment value, The maximum measurement distance of the sonar sensor, Represents the angle of the ultrasonic wave emitted from the sonar sensor)
A winch connecting between the lifting rope and the sonar sensor and winding or releasing the lifting rope;
An altitude sensor coupled to a lower portion of the sonar sensor and measuring an altitude from the sea floor; And
And a control unit connected to the altitude sensor and the winch,
Wherein the control unit operates the winch based on the altitude data measured by the altitude sensor to maintain the altitude at the target altitude.
A depth sensor coupled to a lower portion of the sonar sensor for measuring the depth from the sea surface,
Further comprising an attitude measuring sensor coupled to a lower portion of the sonar sensor and measuring an attitude of the sonar sensor.
The control unit
And the unacquired region in each of the plurality of single-layer shapes is processed as a plane.
The control unit
And the unacquired region in each of the plurality of single-layer shapes is processed into a curved surface by using the spline interpolation method.
A second step of transmitting and receiving ultrasonic waves from the sonar sensor;
A third step of rotating the sonar sensor to obtain a tomographic shape of the underwater structure;
A fourth step of determining whether the altitude of the sonar sensor is a final altitude;
A fifth step of raising the sonar sensor using the lifting winch if it is determined in the fourth step that the altitude of the sonar sensor is not the final altitude;
A sixth step of accumulating a plurality of acquired tomographic shapes to generate a three-dimensional shape of the underwater structure when it is determined that the altitude of the sonar sensor is located at a final altitude in the fourth step; Wherein the measurement of the underwater structure is carried out by the measurement apparatus.
In the sixth step,
Wherein the unacquired region in each of the plurality of single-layer shapes is treated as a plane.
In the sixth step,
And the unacquired region in each of the plurality of single-layer shapes is processed into a curved surface by using the spline interpolation method.
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KR1020170039932A KR101866690B1 (en) | 2017-03-29 | 2017-03-29 | system for measuring underwater structure and measuring method using the same |
PCT/KR2017/007878 WO2018182098A1 (en) | 2017-03-29 | 2017-07-21 | Underwater structure measuring system and underwater structure measuring method |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019217612A1 (en) * | 2018-05-09 | 2019-11-14 | Oceaneering International, Inc. | Subsea computed tomography system with flat panel detectors |
CN111562582A (en) * | 2020-05-29 | 2020-08-21 | 海南核电有限公司 | Marine disaster sonar detection system for coastal nuclear power station |
KR102218697B1 (en) * | 2020-12-29 | 2021-02-22 | (주)삼정오토메이션 | Method for motion compensation of winch system for vessel |
KR20220086868A (en) * | 2020-12-17 | 2022-06-24 | 한국해양과학기술원 | Method for reconstructing ultrasound image acquired with ultrasonic camera into 3d image |
KR102437460B1 (en) * | 2022-03-14 | 2022-08-30 | 국방과학연구소 | Electronic apparatus and method for providing sonobuoy deployment information |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102049764B1 (en) * | 2019-08-01 | 2019-11-28 | 네이버시스템(주) | Observation system for seabed by the sonar |
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JPH02216488A (en) * | 1989-09-06 | 1990-08-29 | Marine Instr Co Ltd | Transmitting device for scanning sonar |
JPH07198844A (en) * | 1993-12-28 | 1995-08-01 | Mitsubishi Precision Co Ltd | Underwater object position measuring apparatus, target position measuring apparatus and remotely dropping apparatus |
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JPH0943350A (en) * | 1995-07-31 | 1997-02-14 | Japan Radio Co Ltd | Ultrasonic sonar |
KR101117760B1 (en) * | 2011-08-04 | 2012-03-16 | 권광석 | 3-d ultrasonics revision method for submarine topography exploration |
KR20150049207A (en) * | 2013-10-29 | 2015-05-08 | 한국광해관리공단 | Three-dimensional shaping device in underground region |
KR101645646B1 (en) * | 2014-08-19 | 2016-08-12 | 엘아이지넥스원 주식회사 | Operating condition check system and method for underwater vehicle |
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2017
- 2017-03-29 KR KR1020170039932A patent/KR101866690B1/en active IP Right Grant
- 2017-07-21 WO PCT/KR2017/007878 patent/WO2018182098A1/en active Application Filing
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JPH02216488A (en) * | 1989-09-06 | 1990-08-29 | Marine Instr Co Ltd | Transmitting device for scanning sonar |
JPH07198844A (en) * | 1993-12-28 | 1995-08-01 | Mitsubishi Precision Co Ltd | Underwater object position measuring apparatus, target position measuring apparatus and remotely dropping apparatus |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2019217612A1 (en) * | 2018-05-09 | 2019-11-14 | Oceaneering International, Inc. | Subsea computed tomography system with flat panel detectors |
CN111562582A (en) * | 2020-05-29 | 2020-08-21 | 海南核电有限公司 | Marine disaster sonar detection system for coastal nuclear power station |
KR20220086868A (en) * | 2020-12-17 | 2022-06-24 | 한국해양과학기술원 | Method for reconstructing ultrasound image acquired with ultrasonic camera into 3d image |
KR102450675B1 (en) * | 2020-12-17 | 2022-10-06 | 한국해양과학기술원 | Method for reconstructing ultrasound image acquired with ultrasonic camera into 3d image |
KR102218697B1 (en) * | 2020-12-29 | 2021-02-22 | (주)삼정오토메이션 | Method for motion compensation of winch system for vessel |
KR102437460B1 (en) * | 2022-03-14 | 2022-08-30 | 국방과학연구소 | Electronic apparatus and method for providing sonobuoy deployment information |
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